A method, device and system for positioning a space target

Abstract

This article provides a spatial target positioning method, device and system, including: obtaining the working parameters of the depth camera to be configured to determine the regional characteristics of the target space area, the target space area is an area that the target object is not allowed to enter or leave; dividing the target space area into multiple acquisition sub-areas and the configuration position of the depth camera corresponding to each acquisition sub-area according to the working parameters of the depth camera and the regional characteristics of the target space area; transforming the position data of the target object collected by the depth cameras corresponding to all the acquisition sub-areas into the same coordinate system, and obtaining the collection position data set in real time; determining whether a prompt needs to be issued based on the positional relationship between the collection position data set and the target space area; if a prompt needs to be issued, obtaining the image data of the target object through an optical image sensor and issuing a prompt. This article can improve the comprehensiveness and accuracy of positioning of special-shaped or large-scale monitoring areas.

Description

Technical Field

[0001] This article belongs to the field of sensor positioning technology, specifically involving a spatial target positioning method, device and system. Background Technology

[0002] In certain special spaces such as construction sites, military restricted areas, and hazardous chemical production and storage areas, it is necessary to locate external targets to restrict their activity range within the area. Currently, a commonly used method for spatial restriction and control is marking warning lines, which involves using markings or lines on the ground to demarcate specific activity areas and thus control these areas. For example, in construction sites and production workshops, lines are drawn to indicate that people should not enter or leave these areas. Figure 1 The image shows a ground-level line drawing of a commonly used restricted area. The area indicated by the line drawing, extending upwards from the ground, is a restricted entry or exit zone, used to remind relevant personnel not to leave or enter this area. This method of line marking is simple and easy to implement. However, whether relevant personnel comply depends entirely on their self-discipline. In the event of an accident, it is difficult to determine the relevant responsibilities. To achieve effective control, these areas need to be separated from other areas. Currently, the commonly used measure is to construct fences, that is, to install and deploy fences in these special areas to mark the area and delineate the target activity range.

[0003] In existing technologies, various simple fences or smart fences are used to locate specific targets and restrict their activity range in the area. However, if the special space to be controlled is large, and the size of a certain dimension exceeds the range of a depth camera (i.e., a stereo camera), or if the special space to be controlled is irregularly shaped, the depth camera (i.e., a stereo camera) cannot effectively cover all areas. Therefore, there is an urgent need for a solution that can overcome the limitations of existing technologies. Summary of the Invention

[0004] In view of the above-mentioned problems in the prior art, the purpose of this paper is to provide a spatial target positioning method, device and system that can improve the full coverage positioning of irregular or large-scale monitoring areas.

[0005] To solve the above-mentioned technical problems, the specific technical solution presented in this paper is as follows:

[0006] On the one hand, this paper provides a spatial target localization method, the method comprising:

[0007] Obtain the operating parameters of the depth camera to be configured, wherein the operating parameters include at least the acquisition range;

[0008] Determine the regional characteristics of the target spatial region, wherein the target spatial region is a region in which the target object is not allowed to enter or leave, and the regional characteristics include at least the region range;

[0009] Based on the operating parameters of the depth camera and the regional characteristics of the target space region, the target space region is divided into multiple acquisition sub-regions, and the configuration position of the depth camera corresponding to each acquisition sub-region is determined.

[0010] Configure the depth camera for each acquisition sub-region;

[0011] Transform the position data of the target object captured by the depth camera in all the acquisition sub-regions to the same coordinate system, and obtain the collection of acquisition position data in real time;

[0012] Based on the positional relationship between the collected location data set and the target spatial region, determine whether a prompt needs to be issued;

[0013] If a prompt is required, image data of the target object is obtained through an optical image sensor, and a prompt is issued.

[0014] Furthermore, based on the operating parameters of the depth camera and the regional characteristics of the target spatial region, the target spatial region is divided into multiple acquisition sub-regions, and the configuration position of the depth camera corresponding to each acquisition sub-region is defined, including:

[0015] Based on the acquisition range of the depth camera, the target space region is divided into multiple acquisition sub-regions, wherein each acquisition sub-region does not exceed the acquisition range of the depth camera;

[0016] Based on the positional relationship of each acquisition sub-region, the configuration position of the depth camera corresponding to each acquisition sub-region is determined, and the configuration position of the depth camera is set at the boundary position of the target space region.

[0017] Furthermore, the position data of the target objects acquired by the depth cameras in all acquisition sub-regions are transformed to the same coordinate system, and the acquisition position data set is obtained in real time, including:

[0018] Determine the spatial coordinate system of each depth camera;

[0019] Using the spatial coordinate system where one of the depth cameras is located as the reference coordinate system, and based on the positional relationship between the other depth cameras and the depth camera, a transformation matrix is ​​established to transform the acquired data of the other depth cameras into the reference coordinate system. The transformation matrix is ​​then used to transform the positional data of the target objects acquired by the depth cameras in all the acquisition sub-regions into the same coordinate system.

[0020] The location data obtained after acquiring the target object captured by each depth camera is converted and put into the acquisition location data set. Different depth cameras acquire different target objects.

[0021] Furthermore, the optical image sensor and the depth camera are in one-to-one correspondence.

[0022] Furthermore, based on the positional relationship between the collected location data set and the target spatial region, it is determined whether a prompt needs to be issued, including:

[0023] When the target space area is an area where the target object is not allowed to enter, it is determined whether there is a collection point located in the target space area in the collection location data set. If so, a prompt needs to be given.

[0024] When the target space region is an area where the target object is not allowed to leave, it is determined whether all the collection points in the collection location data set are located within the target space region. If not, a prompt needs to be issued.

[0025] Furthermore, if a prompt is required, image data of the target object is obtained through an optical image sensor, and a prompt is issued, including:

[0026] If a prompt is required, then identify the abnormal collection points, which are collection points that do not meet the regional attributes of the target spatial region.

[0027] Identify the depth camera corresponding to the abnormal acquisition point, and use the optical image sensor corresponding to the depth camera to acquire the image data of the target object acquired by the depth camera.

[0028] Furthermore, the prompt includes sending the image data of the target object to the user's terminal and providing reminders via voice, email, or telephone.

[0029] On the other hand, this article also provides a space target positioning device, the device comprising:

[0030] The working parameter acquisition module is used to acquire the working parameters of the depth camera to be configured, wherein the working parameters include at least the acquisition range;

[0031] The region feature determination module is used to determine the region features of the target spatial region, wherein the target spatial region is a region in which the target object is not allowed to enter or leave, and the region features include at least the region range.

[0032] The segmentation module is used to divide the target space region into multiple acquisition sub-regions according to the working parameters of the depth camera and the regional characteristics of the target space region, and to define the configuration position of the depth camera corresponding to each acquisition sub-region.

[0033] The configuration module is used to configure the depth camera corresponding to each acquisition sub-region;

[0034] The transformation module is used to transform the position data of the target object acquired by the depth camera in all acquisition sub-regions to the same coordinate system and acquire the acquisition position data set in real time.

[0035] The judgment module is used to determine whether a prompt needs to be issued based on the positional relationship between the collected location data set and the target spatial region;

[0036] The prompting module is used to obtain image data of the target object through an optical image sensor and issue a prompt if a prompt is required.

[0037] On the other hand, this paper also provides a space target positioning system, the system comprising:

[0038] Multiple depth cameras are deployed at the boundary of the target spatial region;

[0039] Multiple optical image sensors, each corresponding to a depth camera;

[0040] The processor is configured as follows:

[0041] Obtain the operating parameters of the depth camera to be configured, wherein the operating parameters include at least the acquisition range;

[0042] Determine the regional characteristics of the target spatial region, wherein the target spatial region is a region in which the target object is not allowed to enter or leave, and the regional characteristics include at least the region range;

[0043] Based on the operating parameters of the depth camera and the regional characteristics of the target space region, the target space region is divided into multiple acquisition sub-regions, and the configuration position of the depth camera corresponding to each acquisition sub-region is determined.

[0044] Configure the depth camera for each acquisition sub-region;

[0045] Transform the position data of the target object captured by the depth camera in all the acquisition sub-regions to the same coordinate system, and obtain the collection of acquisition position data in real time;

[0046] Based on the positional relationship between the collected location data set and the target spatial region, determine whether a prompt needs to be issued;

[0047] If a prompt is required, image data of the target object is obtained through an optical image sensor, and a prompt is issued accordingly.

[0048] An alarm is used to provide an alarm notification based on the processing result of the processor.

[0049] On the other hand, this document also provides a computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method described above.

[0050] Using the above technical solution, the spatial target positioning method, device, and system described herein include: acquiring the operating parameters of a depth camera to be configured, the operating parameters including at least the acquisition range; determining the regional characteristics of a target spatial region, the target spatial region being an area where the target object is not allowed to enter or leave, the regional characteristics including at least the regional range; dividing the target spatial region into multiple acquisition sub-regions and the configuration position of the depth camera corresponding to each acquisition sub-region according to the operating parameters of the depth camera and the regional characteristics of the target spatial region; configuring the depth camera corresponding to each acquisition sub-region; transforming the position data of the target object acquired by the depth cameras corresponding to all acquisition sub-regions to the same coordinate system and acquiring the acquisition position data set in real time; determining whether a prompt needs to be issued based on the positional relationship between the acquisition position data set and the target spatial region; if a prompt needs to be issued, obtaining the image data of the target object through an optical image sensor and issuing a prompt. The solution provided herein can improve the comprehensiveness and accuracy of positioning in irregularly shaped or large-scale monitoring areas.

[0051] To make the above and other objects, features and advantages of this document more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in the embodiments or prior art described herein, the accompanying drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this article. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 A top view of a specific spatial region is shown in one embodiment of this paper;

[0054] Figure 2 This document illustrates the steps of a spatial target localization method provided in an embodiment.

[0055] Figure 3 This paper shows a schematic diagram of the placement of two binocular depth cameras in one embodiment.

[0056] Figure 4 This paper shows a schematic diagram of the positions of the O1-X1Y1Z1 coordinate system and the O2-X2Y2Z2 coordinate system in one embodiment of the present paper;

[0057] Figure 5 This document illustrates a flowchart of a target object prohibition space monitoring process in one embodiment.

[0058] Figure 6 This document illustrates a flowchart of a target object prohibition space monitoring process in one embodiment.

[0059] Figure 7 A schematic diagram of the framework of the computer device provided in the embodiments of this article is shown. Detailed Implementation

[0060] The technical solutions in the embodiments described below will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments described herein, and not all of them. Based on the embodiments described herein, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this document.

[0061] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings herein are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, apparatus, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0062] First, let's explain the technical terms used in the text:

[0063] Spatial relative positioning technology is a method for determining the relative position of an object in space, typically based on the relationship between the object and other objects or reference points. This technology does not rely directly on an absolute coordinate system; instead, it determines the object's position by measuring and calculating its position relative to other objects in known locations. Spatial relative positioning technology depends on the measurement and calculation of the relative positional relationships between objects. These measurements may include distances, angles, or other spatial parameters.

[0064] The implementation path is as follows:

[0065] 1. Selection of reference points: First, it is necessary to select one or more reference points with known locations. These reference points can be other objects or facilities that have been precisely located in space.

[0066] 2. Measure relative position: Use appropriate measuring equipment or technology, such as laser rangefinders, radar, etc., to measure the relative distance, angle or other relevant parameters between the target object and the reference object.

[0067] 3. Orientation data processing: The measured data is processed and analyzed, and the position of the target object relative to the reference object is determined through geometric calculations or other algorithms.

[0068] Spatial relative positioning technology is widely used in various fields, including Geographic Information Systems, Remote Sensing, and Global Positioning Systems, and can accurately describe the positional relationships of objects in three-dimensional space. Precautions for using this technology include:

[0069] 1. The accuracy of measurement directly affects the accuracy of positioning. Therefore, when selecting measurement equipment and methods, their accuracy and reliability must be considered.

[0070] 2. The choice of reference point is also important. It is necessary to ensure that the position of the reference point is known and stable to reduce positioning errors.

[0071] 3. In complex environments, it may be necessary to consider more reference points and measurement parameters to improve the accuracy and robustness of positioning.

[0072] Spatial relative positioning technology is a method of positioning based on the relative relationships between objects. Its principle is simple, yet its applications are widespread. By selecting appropriate reference objects and measuring equipment, and combining them with suitable data processing and analysis methods, high-precision spatial positioning can be achieved.

[0073] Existing technologies are designed for specific spatial regions, such as Figure 1 As shown, for example, the size of a certain dimension exceeds the range of the monitoring equipment; or the special spatial area that needs to be controlled is irregularly shaped, and the monitoring equipment cannot effectively cover all areas.

[0074] To address the aforementioned issues, this embodiment provides a spatial target localization method that can improve the accuracy of monitoring special areas. Figure 2 This is a schematic diagram illustrating the steps of a spatial target localization method provided in the embodiments of this document. This specification provides the operational steps of the method described in the embodiments or flowcharts, but based on conventional or non-inventive labor, more or fewer operational steps may be included. The order of steps listed in the embodiments is only one possible execution order among many steps and does not represent the only execution order. In actual system or device products, the methods shown in the embodiments or accompanying drawings can be executed sequentially or in parallel. Specifically, as shown in the figures... Figure 2 As shown, the method may include:

[0075] S201: Obtain the operating parameters of the depth camera to be configured, wherein the operating parameters include at least the acquisition range;

[0076] S20:2: Determine the regional characteristics of the target space region, wherein the target space region is a region in which the target object is not allowed to enter or leave, and the regional characteristics include at least the region range;

[0077] S203: Based on the working parameters of the depth camera and the regional characteristics of the target space region, the target space region is divided into multiple acquisition sub-regions, and the configuration position of the depth camera corresponding to each acquisition sub-region is determined.

[0078] S204: Configure the depth camera corresponding to each acquisition sub-region;

[0079] S205: Transform the position data of the target object acquired by the depth camera in all acquisition sub-regions to the same coordinate system, and acquire the acquisition position data set in real time;

[0080] S206: Based on the positional relationship between the collected location data set and the target spatial region, determine whether a prompt needs to be issued;

[0081] S207: If a prompt is required, the image data of the target object is obtained through the optical image sensor, and a prompt is issued.

[0082] This specification's embodiments can be understood as achieving comprehensive coverage of specific target areas while maintaining the reliability and accuracy of monitoring. By dividing the target spatial area to ensure that each divided area can be monitored by the corresponding depth camera, and through coordinate transformation, unified monitoring of different divided areas can be achieved, improving the timeliness and reliability of monitoring.

[0083] Among them, the optical image sensor can be paired with the depth camera one by one. In this way, when a target object captured by a certain depth camera needs to be prompted, the image data of the target object can be quickly acquired through the corresponding optical image sensor to provide prompts.

[0084] In this embodiment of the specification, based on the operating parameters of the depth camera and the regional characteristics of the target spatial region, the target spatial region is divided into multiple acquisition sub-regions, and the configuration position of the depth camera corresponding to each acquisition sub-region is defined, including:

[0085] Based on the acquisition range of the depth camera, the target space region is divided into multiple acquisition sub-regions, wherein each acquisition sub-region does not exceed the acquisition range of the depth camera;

[0086] Based on the positional relationship of each acquisition sub-region, the configuration position of the depth camera corresponding to each acquisition sub-region is determined, and the configuration position of the depth camera is set at the boundary position of the target space region.

[0087] This can be understood as the acquisition range of the depth camera being its acquisition capacity, such as the maximum area or spatial limit of the acquisition area. Then, the target spatial region is divided based on its size, with the principle being to minimize the number of sub-regions to improve the utilization rate of the depth camera. For example, the area corresponding to each sub-region should not be less than a preset percentage of the depth camera's acquisition range, such as 80% or 90%. This ensures that every location in the target spatial region is monitored while maintaining the optimal utilization rate of the depth camera and avoiding resource waste.

[0088] For example, such as Figure 3 As shown, this is an irregularly shaped spatial region. The aforementioned method of monitoring such a region using a depth camera, whether using a single device or two devices, cannot effectively monitor this region. This irregularly shaped spatial region is divided into a rectangular double-wire frame S1 and a circular double-wire frame S2. The aforementioned two depth cameras can then be used to monitor targets within the rectangular double-wire frame S1 and the circular double-wire frame S2 respectively.

[0089] When configuring depth cameras, the configuration position of the depth cameras can be set at the boundary position of the target space area. Furthermore, when the area range of at least one acquisition sub-area is smaller than the acquisition range of the depth camera, when configuring the depth cameras, the acquisition ranges of at least two depth cameras should overlap. This can also make full use of the depth cameras to assist in monitoring parts of other adjacent acquisition sub-areas, thereby further improving the reliability of monitoring the entire target space area.

[0090] In the embodiments of this specification, the position data of the target object acquired by the depth camera corresponding to all acquisition sub-regions are transformed to the same coordinate system, and the acquisition position data set is acquired in real time, including:

[0091] Determine the spatial coordinate system of each depth camera;

[0092] Using the spatial coordinate system where one of the depth cameras is located as the reference coordinate system, and based on the positional relationship between the other depth cameras and the depth camera, a transformation matrix is ​​established to transform the acquired data of the other depth cameras into the reference coordinate system. The transformation matrix is ​​then used to transform the positional data of the target objects acquired by the depth cameras in all the acquisition sub-regions into the same coordinate system.

[0093] The location data obtained after acquiring the target object captured by each depth camera is converted and put into the acquisition location data set. Different depth cameras acquire different target objects.

[0094] This can be understood as follows: using different systems (i.e., the coordinate systems of different depth cameras) to independently monitor targets in rectangular double-line frames S1 and circular double-line frames S2 is not conducive to unified and timely feedback on target status. By transforming the coordinates of data collected by different depth cameras to obtain a set based on the same coordinate system, centralized monitoring can be facilitated.

[0095] For example, this specification uses spatial coordinate transformation technology to convert multiple different special spatial regions into a single system, achieving unified monitoring of targets in multiple different special spatial regions. Taking the aforementioned single-device rapid positioning method as an example, stereo depth cameras A and B are used to monitor a rectangular double-wire frame S1 and a circular double-wire frame S2, respectively. In S1, the length, width, and height of the rectangular double-wire frame are L, W, and H, respectively; in S2, the radius of the circular double-wire frame is R. Stereo depth cameras A and B are placed at the edges of the rectangular double-wire frame region S1 and the circular double-wire frame region S2, as shown below. Figure 3 As shown.

[0096] Let the position of camera A be the origin O1, and establish a system as follows: Figure 6 The O1-X1Y1Z1 three-dimensional coordinate system is shown. Points within the rectangular double-lined frame region S1 can use the coordinates (x1, y1, z1) of the O1-X1Y1Z1 coordinate system, i.e., the array (a...). ij1 (j1, i1) represents; and the coordinates (x1, y1, z1) are the array (a ij1 (j1, i1) should satisfy:

[0097] –W / 2 <x1<W / 2 0<y1<L–H / 2<z1<–H / 2,

[0098] That is, –W / 2 ij1 <W / 2 0<j1<L –H / 2<i1<H / 2 (1)

[0099] If the target data collected by camera A satisfies the above formula (1), it can be determined that the part of the target facing camera A is located in the area defined by the rectangular double-line frame.

[0100] Let the position of camera B be the origin O2, and establish a system as follows: Figure 6 The O2-X2Y2Z2 three-dimensional coordinate system is shown. Points within the circular double-lined frame region S2 can be represented using coordinates (x2, y2, z2) in the O2-X2Y2Z2 three-dimensional coordinate system, i.e., the array (a...). ij2 (j2, i2) represents the coordinates (x2, y2, z2), i.e., the array (a ij2 (j2, i2) should satisfy:

[0101] x2 2 +y2 2 <R 2 That is, a​ij2 2 +j2 2 <R 2 (2)

[0102] If the target data collected by camera B satisfies the above formula (2), it can be determined that the part of the target facing camera B is located in the area defined by the circular double-line frame.

[0103] Similarly, if the special spatial sub-region has other shapes, a similar method (closed or set) can be used to determine whether the part of the target facing camera B is located in the special spatial sub-region.

[0104] To transform the rectangular double-wire frame S1 and the circular double-wire frame S2 into a single system for unified monitoring of the target, without loss of generality, let the spatial relationship between the O1-X1Y1Z1 coordinate system and the O2-X2Y2Z2 coordinate system be as follows: Figure 4 As shown.

[0105] Based on the geometric relationship between the two, point Q in the O2-X2Y2Z2 coordinate system can be represented in the O1-X1Y1Z1 coordinate system as:

[0106] in Let be the transformation matrix.

[0107]

[0108] According to the above transformation formula, the points (x2, y2, z2) inside the circular double-line frame S2, i.e., the array (a ij2 Transform j2, i2) into the O1-X1Y1Z1 coordinate system of the rectangular double-line frame S1, that is:

[0109]

[0110] Similarly, according to the above transformation formula, the points (x1, y1, z1) inside the rectangular double-line frame S1, i.e., the array (a ij1 Transform j1, i1) into the O2-X2Y2Z2 coordinate system of the circular double-wire frame S2, i.e.

[0111]

[0112] Right now,

[0113] In this embodiment of the specification, determining whether a prompt needs to be issued based on the positional relationship between the collected location data set and the target spatial region includes:

[0114] When the target space area is an area where the target object is not allowed to enter, it is determined whether there is a collection point located in the target space area in the collection location data set. If so, a prompt needs to be given.

[0115] When the target space region is an area where the target object is not allowed to leave, it is determined whether all the collection points in the collection location data set are located within the target space region. If not, a prompt needs to be issued.

[0116] For example, in order to determine whether the target in the O1-X1Y1Z1 coordinate system is in a super-large or irregular special space region, the target pixel data collected by the camera A in frontal view can be checked first to see if it satisfies formula (1); then the target pixel data collected by the camera A in frontal view is transformed to the O2-X2Y2Z2 coordinate system and checked to see if it satisfies formula (2), so that it can be determined whether the target is in the space enclosed by the fence.

[0117] Similarly, in order to determine whether the target in the O2-X2Y2Z2 coordinate system is in a super-large or irregular special spatial region, we can first check whether the target pixel data collected by the camera B in frontal view satisfies formula (2); then transform the target pixel data collected by the camera B in frontal view to the O1-X1Y1Z1 coordinate system and check whether the point satisfies formula (2).

[0118] If the special space area is a prohibited area, the outputs of cameras A and B are periodically checked to see if the pixel values ​​of the target's stereo depth data within the special space area satisfy formulas (1) and (2). If any one of them is satisfied, it indicates that a target has entered the prohibited space, and the target image is captured by the optical sensor and an alarm is triggered. The execution process is as follows: Figure 5 As shown.

[0119] If the special space area is a restricted area, the outputs of cameras A and B are checked periodically to see if the pixel values ​​of the target's stereo depth data within the special space area satisfy formulas (1) and (2). If any one of them is not satisfied, it indicates that the monitored target has left the restricted area, and the target image is captured by the optical sensor and an alarm is triggered. The execution process is as follows: Figure 6 As shown.

[0120] In the embodiments described in this specification, image data of the target object is obtained through an optical image sensor, and a prompt is given, including:

[0121] If a prompt is required, then identify the abnormal collection points, which are collection points that do not meet the regional attributes of the target spatial region.

[0122] Identify the depth camera corresponding to the abnormal acquisition point, and use the optical image sensor corresponding to the depth camera to acquire the image data of the target object acquired by the depth camera.

[0123] This can be understood as an abnormal acquisition point being a target object that needs to be flagged after assessment. Since different depth cameras may capture different target objects, when determining whether a flag needs to be flagged, it is necessary to first determine the location of the target object whose image needs to be captured for flagging. This allows the corresponding optical image sensor to obtain the image data of the target object, thereby improving the reliability and accuracy of the alarm flag.

[0124] Furthermore, the prompt includes sending the image data of the target object to the user's terminal and providing reminders via voice, email, or telephone.

[0125] This paper describes a spatial target positioning method, apparatus, and system. The method involves: acquiring the operating parameters of a depth camera to be configured, including at least the acquisition range; determining the regional characteristics of a target spatial region, where the target spatial region is an area where the target object is not allowed to enter or leave, and the regional characteristics include at least the region's extent; dividing the target spatial region into multiple acquisition sub-regions based on the depth camera's operating parameters and the regional characteristics of the target spatial region, and determining the configuration position of the depth camera corresponding to each acquisition sub-region; configuring the depth camera corresponding to each acquisition sub-region; transforming the position data of the target object acquired by the depth cameras corresponding to all acquisition sub-regions to the same coordinate system, and acquiring the acquisition position data set in real time; determining whether a prompt needs to be issued based on the positional relationship between the acquisition position data set and the target spatial region; if a prompt needs to be issued, obtaining the image data of the target object through an optical image sensor and issuing a prompt. The solution provided in this paper can improve the comprehensiveness and accuracy of positioning in irregularly shaped or large-scale monitoring areas, and has the following advantages: 1. Depth cameras are mobile and easy to deploy; 2. They are reusable; 3. They have high accuracy; 4. Responsibilities can be clearly defined, i.e., depth cameras in different locations are responsible for monitoring the corresponding areas.

[0126] Based on the methods provided above, this specification also provides a space target positioning device, the device comprising:

[0127] The working parameter acquisition module is used to acquire the working parameters of the depth camera to be configured, wherein the working parameters include at least the acquisition range;

[0128] The region feature determination module is used to determine the region features of the target spatial region, wherein the target spatial region is a region in which the target object is not allowed to enter or leave, and the region features include at least the region range.

[0129] The segmentation module is used to divide the target space region into multiple acquisition sub-regions according to the working parameters of the depth camera and the regional characteristics of the target space region, and to define the configuration position of the depth camera corresponding to each acquisition sub-region.

[0130] The configuration module is used to configure the depth camera corresponding to each acquisition sub-region;

[0131] The transformation module is used to transform the position data of the target object acquired by the depth camera in all acquisition sub-regions to the same coordinate system and acquire the acquisition position data set in real time.

[0132] The judgment module is used to determine whether a prompt needs to be issued based on the positional relationship between the collected location data set and the target spatial region;

[0133] The prompting module is used to obtain image data of the target object through an optical image sensor and issue a prompt if a prompt is required.

[0134] The friendship effect achieved by the above-described device is the same as that achieved by the above-described method, and will not be described in detail in the embodiments of this specification.

[0135] In another embodiment of this specification, a space target positioning system is also provided, the system comprising:

[0136] Multiple depth cameras are deployed at the boundary of the target spatial region;

[0137] Multiple optical image sensors, each corresponding to a depth camera;

[0138] The processor is configured as follows:

[0139] Obtain the operating parameters of the depth camera to be configured, wherein the operating parameters include at least the acquisition range;

[0140] Determine the regional characteristics of the target spatial region, wherein the target spatial region is a region in which the target object is not allowed to enter or leave, and the regional characteristics include at least the region range;

[0141] Based on the operating parameters of the depth camera and the regional characteristics of the target space region, the target space region is divided into multiple acquisition sub-regions, and the configuration position of the depth camera corresponding to each acquisition sub-region is determined.

[0142] Configure the depth camera for each acquisition sub-region;

[0143] Transform the position data of the target object captured by the depth camera in all the acquisition sub-regions to the same coordinate system, and obtain the collection of acquisition position data in real time;

[0144] Based on the positional relationship between the collected location data set and the target spatial region, determine whether a prompt needs to be issued;

[0145] If a prompt is required, image data of the target object is obtained through an optical image sensor, and a prompt is issued accordingly.

[0146] An alarm is used to provide an alarm notification based on the processing result of the processor.

[0147] This embodiment provides a computer device, the internal structure of which can be shown in the following diagram. Figure 7 As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The network interface is used for communication with external terminals via a network connection.

[0148] Those skilled in the art will understand that Figure 7 The structure shown is only a block diagram of a part of the structure related to the present application and does not constitute a limitation on the computer device on which the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0149] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0150] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0151] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0152] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0153] It should also be understood that, in the embodiments herein, the term "and / or" is merely a description of the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following associated objects have an "or" relationship.

[0154] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this document.

[0155] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0156] In the embodiments provided herein, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the couplings or direct couplings or communication connections shown or discussed may be indirect couplings or communication connections through some interfaces, devices, or units, or they may be electrical, mechanical, or other forms of connection.

[0157] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments described herein, depending on actual needs.

[0158] This document uses specific embodiments to illustrate the principles and implementation methods of this document. The descriptions of the embodiments above are only for the purpose of helping to understand the methods and core ideas of this document. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this document. Therefore, the content of this specification should not be construed as a limitation of this document.

Claims

1. A method for locating a space target, characterized in that: The method comprises: Acquire operating parameters of the depth camera to be configured, where the operating parameters at least include a collection range; Determine a region feature of a target space region, wherein the target space region is a region that the target object is not allowed to enter or leave, and the region feature at least includes a region range; According to the working parameters of the depth camera and the regional characteristics of the target space area, the target space area is divided into a plurality of acquisition sub-areas, and each acquisition sub-area corresponds to the configuration position of the depth camera; Configure the depth camera corresponding to each acquisition sub-area; Transform the position data of the target object collected by the depth cameras corresponding to all the acquisition sub-areas into the same coordinate system, and obtain the collection position data set in real time; Determining whether a prompt needs to be issued according to the positional relationship between the collection position data set and the target spatial area; If a prompt is required, the image data of the target object is obtained through an optical image sensor and a prompt is given.

2. The method according to claim 1, characterized in that According to the working parameters of the depth camera and the regional characteristics of the target space area, the target space area is divided into a plurality of acquisition sub-areas, and the configuration position of the depth camera corresponding to each acquisition sub-area includes: According to the acquisition range of the depth camera, the target space area is divided into a plurality of acquisition sub-areas, wherein each acquisition sub-area does not exceed the acquisition range of the depth camera; According to the positional relationship of each acquisition sub-area, the configuration position of the depth camera corresponding to each acquisition sub-area is determined, and the configuration position of the depth camera is set at the boundary position of the target space area.

3. The method according to claim 1, characterized in that Transform the position data of the target object collected by the depth cameras corresponding to all the acquisition sub-areas into the same coordinate system, and obtain the collection position data set in real time, including: Determine the spatial coordinate system of each depth camera; Taking the spatial coordinate system where one of the depth cameras is located as the reference coordinate system, and based on the positional relationship between the other depth cameras and the depth camera, a transformation matrix for transferring the acquisition data of the other depth cameras to the reference coordinate system is established, so as to use the transformation matrix to transform the position data of the target object acquired by the depth cameras corresponding to all acquisition sub-areas into the same coordinate system; The position data obtained after the target object captured by each depth camera is converted and put into the collection position data set. Different depth cameras capture different target objects.

4. The method according to claim 1, characterized in that: The optical image sensor and the depth camera correspond one to one.

5. The method according to claim 1, characterized in that Determining whether a prompt needs to be issued according to the positional relationship between the collection position data set and the target space area includes: When the target space area is an area that the target object is not allowed to enter, determine whether there is a collection point located in the target space area in the collection position data set, and if so, prompt; When the target space area is an area where the target object is not allowed to leave, it is determined whether all the collection points in the collection position data set are located in the target space area. If not, a prompt is required.

6. The method according to claim 4, characterized in that If a prompt is required, the image data of the target object is obtained through an optical image sensor, and a prompt is given, including: If a prompt is required, an abnormal collection point is determined, where the abnormal collection point is a collection point that does not meet the regional attributes of the target space area; The depth camera corresponding to the abnormal acquisition point is determined, and the image data of the target object acquired by the depth camera is acquired by using the optical image sensor corresponding to the depth camera.

7. The method according to claim 1, characterized in that The prompt includes sending the image data of the target object to the user terminal and reminding through voice, email or telephone.

8. A space target positioning device, characterized in that: The device comprises: A working parameter acquisition module, used to acquire working parameters of the depth camera to be configured, wherein the working parameters at least include a collection range; A region feature determination module, used to determine the region feature of a target space region, wherein the target space region is a region that the target object is not allowed to enter or leave, and the region feature at least includes a region range; A division module, used to divide the target space area into a plurality of acquisition sub-areas and a configuration position of the depth camera corresponding to each acquisition sub-area according to the working parameters of the depth camera and the regional characteristics of the target space area; A configuration module is used to configure the depth camera corresponding to each acquisition sub-area; A transformation module is used to transform the position data of the target object collected by the depth cameras corresponding to all the collection sub-areas into the same coordinate system, and obtain the collection position data set in real time; A judgment module, used for determining whether a prompt needs to be issued according to the positional relationship between the collection position data set and the target space area; The prompt module is used to obtain the image data of the target object through the optical image sensor and issue a prompt if a prompt is required.

9. A space target positioning system, characterized in that: The system comprises: Multiple depth cameras are arranged at the boundaries of the target space area; A plurality of optical image sensors corresponding one to each of the depth cameras; The processor is configured as: Acquire operating parameters of the depth camera to be configured, where the operating parameters at least include a collection range; Determine a region feature of a target space region, wherein the target space region is a region that the target object is not allowed to enter or leave, and the region feature at least includes a region range; According to the working parameters of the depth camera and the regional characteristics of the target space area, the target space area is divided into a plurality of acquisition sub-areas, and each acquisition sub-area corresponds to the configuration position of the depth camera; Configure the depth camera corresponding to each acquisition sub-area; Transform the position data of the target object collected by the depth cameras corresponding to all the acquisition sub-areas into the same coordinate system, and obtain the collection position data set in real time; Determining whether a prompt needs to be issued according to the positional relationship between the collection position data set and the target spatial area; If a prompt is required, the image data of the target object is obtained through an optical image sensor, and a prompt is given; An alarm is used to issue an alarm prompt according to the processing result of the processor.

10. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

Images